uint8_t serial_receive(uint8_t* returnBuf, uint8_t size, uint8_t* stream, uint8_t streamSize){
uint8_t buf[size];
uint8_t index = 0;
uint8_t rxByte = 1;
if((streamSize - counter) >= 2){ //need at least 2 bytes to start receiving
buf[0] = stream_read(stream);
if(buf[0] == 0){ //caught the end of a previous frame
printf(" Buf[0] was 0\n");
return 0;
}
printf(" Buf[0] = %d\n", buf[0]);
do{ //read until next 0 or we reach max length
buf[++index] = stream_read(stream);
printf(" Read %d\n", buf[index]);
}while((buf[index] != 0) && (index < size-1));
if(buf[index] != 0){ //ran out of space for a frame
do{
rxByte = stream_read(stream);
}while(rxByte != 0); //get rest of frame out of buffer
printf(" Ran out of space\n");
return 0;
}else{//got a full frame
printf(" Got full frame. Index = %d\n", index);
index = cobs_decode(buf, index, returnBuf);
printf(" Bytes unstuffed = %d\n", index);
return index; //represents number of bytes decoded
}
}
printf("Nothing to read\n");
}
int cobs_decode_empty(void) {
uint8_t cobs_out[1];
cobs_out[0] = 0xAA;
size_t out_len = cobs_decode(cobs_out, NULL, 0);
if (cobs_out[0] != 0xAA) return 1;
if (out_len != 0) return 1;
return 0;
}
int cobs_decode_emptyout(void) {
uint8_t cobs_in[] = {0x01};
size_t in_len = sizeof(cobs_in);
uint8_t cobs_out[in_len];
cobs_out[in_len - 1] = 0xAA;
size_t out_len = cobs_decode(cobs_out, cobs_in, in_len);
if (cobs_out[in_len - 1] != 0xAA) return 1;
if (out_len != in_len - 1) return 1;
return 0;
}
int cobs_decode_multizero(void) {
uint8_t cobs_in[] = {0x02, 0x11, 0x01, 0x02, 0x33};
size_t in_len = sizeof(cobs_in);
uint8_t cobs_out[in_len];
cobs_out[in_len - 1] = 0xAA;
uint8_t cobs_out_correct[] = {0x11, 0x00, 0x00, 0x33};
size_t out_len = cobs_decode(cobs_out, cobs_in, in_len);
if (cobs_out[in_len - 1] != 0xAA) return 1;
if (out_len != in_len - 1) return 1;
return memcmp(cobs_out, cobs_out_correct, out_len);
}
void ssMainUpdate() {
if (activeSendFlag) {
uint8_t pacLen = 0;
uint8_t inband = 0;
ssActiveSend(decodedBuffer, &pacLen, &inband);
// Send reply active packet
if (pacLen > 0 && pacLen <= ACTIVE_PACKET_MAX_LEN) {
encodedBuffer[0] = 0x00;
encodedBuffer[1] = packetType;
encodedBuffer[2] = ((!!inband) << 7) | (pacLen+4);
cobs_encode(encodedBuffer+3, decodedBuffer, pacLen);
serialPrint(encodedBuffer, pacLen+4);
}
activeSendFlag = 0;
}
if (rxBufferFlag == RX_FLAG_DATA_AVAILABLE) { // if done receiving
rxBufferFlag = RX_FLAG_DATA_IN_USE;
if (dataLen >= 1) {
cobs_decode(decodedBuffer, rxBuffer, dataLen);
}
if (packetType < 0x80) {
// Read game mode from 0th channel
if (decodedBuffer[0] <= MAX_MODE) gameMode = decodedBuffer[0];
// Read other channels
ssActiveInRec(decodedBuffer+1, dataLen-2, in_band_sigFlag);
} else if (packetType <= 0xFD && packetType >= 0xF0) {
enumerationPacket(packetType, decodedBuffer, dataLen-1);
} else {
uint8_t pacLen = 0;
maintenancePacket(packetType, decodedBuffer, dataLen-1,
decodedBuffer, &pacLen);
// Send reply maintenance packet
if (pacLen > 0 && pacLen <= 0xFF-4) {
encodedBuffer[0] = 0x00;
encodedBuffer[1] = packetType; // Respond with same type as sent.
encodedBuffer[2] = pacLen+4;
cobs_encode(encodedBuffer+3, decodedBuffer, pacLen);
serialPrint(encodedBuffer, pacLen+4);
}
}
rxBufferFlag = RX_FLAG_READY; // should be below if statement
}
}
portTASK_FUNCTION_PROTO(smartSensorTX, pvParameters) {
(void) pvParameters;
// TODO(cduck): Get bus num from pvParameters.
uint8_t busNum = 0;
uart_serial_module *bus = ssBusses[busNum];
while (1) {
vTaskDelay(200 / portTICK_RATE_MS); // Wait for smart sensors to boot.
while (busState == SS_BUS_ENUMERATION) {
led_driver_set_mode(PATTERN_ENUMERATING);
KnownIDs enumIDs = {
.arr = pvPortMalloc(SS_MAX_SENSORS_PER_BUS * sizeof(SSState*)),
.len = 0,
.maxLen = SS_MAX_SENSORS_PER_BUS,
};
if (enumerateSensors(&enumIDs, bus, busNum)) {
} else {
enumIDs.len = 0; // Ignore sensors from failed attempt.
}
size_t index = ss_add_sensors(&enumIDs);
// Bandwidth allocation and assignment
// TODO(cduck): Better bandwidth allocation (only allocates first 6)
for (int i = 0; i < SS_NUM_FRAMES && i < enumIDs.len; ++i) {
SSState *sensor = enumIDs.arr[i];
uint8_t a = 0x1D;
ss_uart_serial_send_and_finish_data(smartsensor_1, &a, 1); // Debug
ss_uart_serial_send_and_finish_data(smartsensor_4, &a, 1);
ss_uart_serial_send_and_finish_data(smartsensor_1, sensor->id,
SMART_ID_LEN); // Debug
// Assign bandwidth to sensor
uint8_t data[SMART_ID_LEN+2];
data[SMART_ID_LEN] = 0xFF;
data[SMART_ID_LEN+1] = (uint8_t)(i+SS_FIRST_FRAME);
memcpy(data, sensor->id, SMART_ID_LEN);
ss_send_maintenance(bus, 0xD0, data, SMART_ID_LEN+2);
ss_select_delay();
// Store bandwidth assignment
for (int s = 0; s < SS_NUM_SAMPLES; ++s) {
sensorMapping[s][i] = index+i;
}
ss_select_delay(); // Debug
}
led_driver_set_mode(PATTERN_JUST_RED);
led_driver_set_fixed(enumIDs.len, 0b111);
vPortFree(enumIDs.arr);
busState = SS_BUS_ACTIVE; // //////////
}
vTaskDelay(1000 / portTICK_RATE_MS); // ///////
while (busState == SS_BUS_MAINTAINANCE) {
uint8_t d1_len = 7;
uint8_t d1[] = {0x11, 0x22, 0x33, 0x44, 0x88, 0xCC, 0xFF};
uint8_t d2_len = 100;
uint8_t d2[251];
for (int i = 0; i < 251; ++i) {
d2[i] = i;
}
for (int i = 0; i < numSensors; ++i) {
ss_send_ping_pong(sensorArr[i], d1, d1_len);
vTaskDelay(2 / portTICK_RATE_MS);
}
busState = SS_BUS_ACTIVE;
}
while (busState == SS_BUS_ACTIVE) {
// At the beginning of each subchunk, the master sends the following
// header:
// |----------------------------------------
// | 0x00 | has payload sample# subchunk#
// |----------------------------------------
// ---------------------------------------------|
// | <in-band signalling> <length> | <payload> |
// ---------------------------------------------|
// size_t len = 16*6+4;
// Bit format:
// {0, 0b0xyyzzzz, 0bslllllll, p, p, p, p, p, p, p, p, p, p, p, p, p}
// x=has payload, y=sample # (mod 4 (was 8)) (0-indexed),
// z=subchunk # (1-indexed)
// s=in-band signalling, l=length of payload, p=payload (only when s=1)
uint8_t data_len = 100;
uint8_t data[] =
{0, 0b00000001, 0b00000101, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0b00000010, 0b00000011, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0b00000011, 0b00000011, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0b00000100, 0b00000011, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0b00000101, 0b00000011, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0b00000110, 0b00000011, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0 // Timing bytes
};
unsigned int sampleNumber = 0;
uint8_t frameNumber = SS_FIRST_FRAME;
unsigned int sampleNumberLast = sampleNumber;
uint8_t frameNumberLast = frameNumber;
// Recieve
size_t recLen = 0;
transmit_allocations allocs = {.txn = NULL, .data = NULL};
transmit_allocations allocsOld = {.txn = NULL, .data = NULL};
// Clear missed packets
// while (uart_serial_receive_packet(bus, &recLen, 0)) {}
// TODO(cduck): Better timing
while (1) {
// Send entire sample (about 1ms for 100 bytes)
// Clear missed packets
// while (uart_serial_receive_packet(bus, &recLen, 0)) {}
uint8_t isOutgoing = 0;
int16_t sensorIndex =
sensorMapping[sampleNumber%SS_NUM_SAMPLES]
[frameNumber-SS_FIRST_FRAME];
SSState *sensor;
if (sensorIndex >= 0 && numSensors > sensorIndex) {
uint8_t button = button_driver_get_button_state(sensorIndex%2);
sensor = sensorArr[sensorIndex];
if (xSemaphoreTake(sensor->outLock, SENSOR_WAIT_TIME) == pdTRUE) {
if (checkOutgoingBytes(sensor, 1)) {
sensor->outgoingBytes[0] ^= ((0xFF*(!!button)) << 1);
isOutgoing = 1;
allocs = ss_send_active(bus, 0, sampleNumber, frameNumber,
sensor->outgoingBytes, sensor->outgoingLen);
} else {
allocs = ss_send_active(bus, 0, sampleNumber, frameNumber,
NULL, 0);
}
// Wait until the previous packet sent
ss_wait_until_done(bus, allocs);
// Clean up the after sending the previous packet
ss_send_finish(bus, allocs);
xSemaphoreGive(sensor->outLock);
}
}
// //////////////////////Send
// Queue the current packet for sending
// Send active frame (non-blocking)
/* if (isOutgoing) {
xSemaphoreGive(sensor->outLock);
} else {
allocs = ss_send_active(bus, 0, sampleNumber, frameNumber,
NULL, 0);
}
if (allocs.txn) {
// Wait until the previous packet sent
ss_wait_until_done(bus, allocs);
// Clean up the after sending the previous packet
ss_send_finish(bus, allocs);
}
allocsOld = allocs;*/
vTaskDelay(1 / portTICK_RATE_MS);
/*
// Recieve the response to the packet
{
// 1 means wait for packet
uint8_t *data = uart_serial_receive_packet(bus, &recLen, 0);
if (data) {
if (recLen > 2) {
uint8_t prefixLen = 3;
uint8_t decodeLen = recLen-prefixLen-1;
uint8_t *data_decode = pvPortMalloc(decodeLen);
uint8_t freeData = 1;
cobs_decode(data_decode, data+prefixLen, decodeLen+1);
int16_t sensorIndex =
sensorMapping[sampleNumber%SS_NUM_SAMPLES]
[frameNumber-SS_FIRST_FRAME];
if (sensorIndex >= 0 && numSensors > sensorIndex) {
SSState *sensor = sensorArr[sensorIndex];
ss_recieved_data_for_sensor(sensor, data_decode, decodeLen, 0);
}
// Only free if not assigned to a sensor.
if (data_decode && freeData) vPortFree(data_decode);
}
vPortFree(data);
}
}
*/
// Update sample and frame numbers
frameNumberLast = frameNumber;
sampleNumberLast = sampleNumber;
++frameNumber;
if (frameNumber >= SS_NUM_FRAMES+SS_FIRST_FRAME) {
frameNumber = SS_FIRST_FRAME;
++sampleNumber;
}
}
}
}
}
portTASK_FUNCTION_PROTO(smartSensorRX, pvParameters) {
(void) pvParameters;
// TODO(cduck): Get bus num from pvParameters.
uint8_t busNum = 0;
uart_serial_module *bus = ssBusses[busNum];
// Recieve
size_t recLen = 0;
while (1) {
while (busState != SS_BUS_ACTIVE) {}
while (busState == SS_BUS_ACTIVE) {
// Recieve the response to the packet
// 1 means wait for packet
uint8_t *data = uart_serial_receive_packet(bus, &recLen, 0);
if (busState != SS_BUS_ACTIVE) break;
if (data) {
uint8_t prefixLen = 3;
if (recLen > prefixLen) {
uint8_t sampleNumber = (data[1] >> 3) & 0b111;
// Zero indexed
uint8_t frameNumber = (data[1] & 0b111) - SS_FIRST_FRAME;
uint8_t inband = data[1] >> 7;
uint8_t decodeLen = recLen-prefixLen-1;
uint8_t *data_decode = pvPortMalloc(decodeLen);
cobs_decode(data_decode, data+prefixLen, decodeLen+1);
// led_driver_set_mode(PATTERN_JUST_RED);
// led_driver_set_fixed(sampleNumber, 0b111);
if (frameNumber < SS_NUM_FRAMES && sampleNumber < SS_NUM_SAMPLES) {
int16_t sensorIndex =
sensorMapping[sampleNumber%SS_NUM_SAMPLES]
[frameNumber];
if (sensorIndex >= 0 && numSensors > sensorIndex) {
SSState *sensor = sensorArr[sensorIndex];
ss_recieved_data_for_sensor(sensor, data_decode, decodeLen,
inband);
}
}
if (data_decode) vPortFree(data_decode);
}
vPortFree(data);
}
}
}
int cobs_decode_reallylong(void) {
uint8_t cobs_in[] = {
0xFF, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07,
0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F,
0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17,
0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F,
0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27,
0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F,
0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37,
0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F,
0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47,
0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F,
0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57,
0x58, 0x59, 0x5A, 0x5B, 0x5C, 0x5D, 0x5E, 0x5F,
0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67,
0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F,
0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77,
0x78, 0x79, 0x7A, 0x7B, 0x7C, 0x7D, 0x7E, 0x7F,
0x80, 0x81, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87,
0x88, 0x89, 0x8A, 0x8B, 0x8C, 0x8D, 0x8E, 0x8F,
0x90, 0x91, 0x92, 0x93, 0x94, 0x95, 0x96, 0x97,
0x98, 0x99, 0x9A, 0x9B, 0x9C, 0x9D, 0x9E, 0x9F,
0xA0, 0xA1, 0xA2, 0xA3, 0xA4, 0xA5, 0xA6, 0xA7,
0xA8, 0xA9, 0xAA, 0xAB, 0xAC, 0xAD, 0xAE, 0xAF,
0xB0, 0xB1, 0xB2, 0xB3, 0xB4, 0xB5, 0xB6, 0xB7,
0xB8, 0xB9, 0xBA, 0xBB, 0xBC, 0xBD, 0xBE, 0xBF,
0xC0, 0xC1, 0xC2, 0xC3, 0xC4, 0xC5, 0xC6, 0xC7,
0xC8, 0xC9, 0xCA, 0xCB, 0xCC, 0xCD, 0xCE, 0xCF,
0xD0, 0xD1, 0xD2, 0xD3, 0xD4, 0xD5, 0xD6, 0xD7,
0xD8, 0xD9, 0xDA, 0xDB, 0xDC, 0xDD, 0xDE, 0xDF,
0xE0, 0xE1, 0xE2, 0xE3, 0xE4, 0xE5, 0xE6, 0xE7,
0xE8, 0xE9, 0xEA, 0xEB, 0xEC, 0xED, 0xEE, 0xEF,
0xF0, 0xF1, 0xF2, 0xF3, 0xF4, 0xF5, 0xF6, 0xF7,
0xF8, 0xF9, 0xFA, 0xFB, 0xFC, 0xFD, 0xFE,
0x02, 0xFF,
};
size_t in_len = sizeof(cobs_in);
uint8_t cobs_out[in_len - 1];
cobs_out[in_len - 2] = 0xAA;
uint8_t cobs_out_correct[] = {
0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07,
0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F,
0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17,
0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F,
0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27,
0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F,
0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37,
0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F,
0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47,
0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F,
0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57,
0x58, 0x59, 0x5A, 0x5B, 0x5C, 0x5D, 0x5E, 0x5F,
0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67,
0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F,
0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77,
0x78, 0x79, 0x7A, 0x7B, 0x7C, 0x7D, 0x7E, 0x7F,
0x80, 0x81, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87,
0x88, 0x89, 0x8A, 0x8B, 0x8C, 0x8D, 0x8E, 0x8F,
0x90, 0x91, 0x92, 0x93, 0x94, 0x95, 0x96, 0x97,
0x98, 0x99, 0x9A, 0x9B, 0x9C, 0x9D, 0x9E, 0x9F,
0xA0, 0xA1, 0xA2, 0xA3, 0xA4, 0xA5, 0xA6, 0xA7,
0xA8, 0xA9, 0xAA, 0xAB, 0xAC, 0xAD, 0xAE, 0xAF,
0xB0, 0xB1, 0xB2, 0xB3, 0xB4, 0xB5, 0xB6, 0xB7,
0xB8, 0xB9, 0xBA, 0xBB, 0xBC, 0xBD, 0xBE, 0xBF,
0xC0, 0xC1, 0xC2, 0xC3, 0xC4, 0xC5, 0xC6, 0xC7,
0xC8, 0xC9, 0xCA, 0xCB, 0xCC, 0xCD, 0xCE, 0xCF,
0xD0, 0xD1, 0xD2, 0xD3, 0xD4, 0xD5, 0xD6, 0xD7,
0xD8, 0xD9, 0xDA, 0xDB, 0xDC, 0xDD, 0xDE, 0xDF,
0xE0, 0xE1, 0xE2, 0xE3, 0xE4, 0xE5, 0xE6, 0xE7,
0xE8, 0xE9, 0xEA, 0xEB, 0xEC, 0xED, 0xEE, 0xEF,
0xF0, 0xF1, 0xF2, 0xF3, 0xF4, 0xF5, 0xF6, 0xF7,
0xF8, 0xF9, 0xFA, 0xFB, 0xFC, 0xFD, 0xFE, 0xFF,
};
size_t out_len = cobs_decode(cobs_out, cobs_in, in_len);
if (cobs_out[in_len - 2] != 0xAA) return 1;
if (out_len != in_len - 2) return 1;
return memcmp(cobs_out, cobs_out_correct, out_len);
}
